Analysis, Design, and Implementation of an Omnidirectional Mobile Robot Platform

摘要

In this paper, an omnidirectional mobile robot is designed, analysed, evaluated and developed. A suitable design, of the robot is offered considering a number of practical factors. The methodology and operation of its omnidirectional locomotion is analysed by deducing a range of applicable equations for the robot kinematics, and trajectory plotting. The velocity PI algorithm is used to control the robot wheels’ speeds. Several tests were applied to the robot platform such as repeatability and manoeuvrability tests. Reasonable results were shown after applying the analyses via computer programming. The designed omnidirectional robot platform is able to move instantaneously in any direction at any angle, without or with changing the orientation of the robot.